Talk with family & friends , get their input, if they think you are safe to drive or not..
My dad made the decision himself when he felt he couldn't react quickly or control /feel where his feet were on the pedals..
Or ask your doctors if they feel you can be a safe driver, but they might cover their rear and pull your driving privileges even if you still are safe..
I'd ask all those others before saying anything to your ins agent or Ins company..
Plus if any cognitive issues , that is another factor..

If you knowingly drive while impaired in any way, the Ins companies & probably police also will frown on that if something does happen..